Radio navigation system for dirigible craft



Oct. 7, 1952 W PALMER 2,613,339

RADIO NAVIGATION SYSTEM FOR DIRIGIBLE CRAFT Filed July 16. 1947 3 Sheets-Sheet l TR/MSM/ TTER PRBENT P05 1776A/ TRI/VSM/ TTER INVENTOR WIA/SLOW PHL/WER OC- 7, 1952 w. PALMER RAOTO NAVIGATION SYSTEM ROR OTRTOIBLE ORART Filed July 16. 1947 s sheets-sheet 2 INVENTOR W//vsmw Pm. MER

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3 Sheets-Sheet M0 TOR MPUF/ER RATE #MPL/nfl? W. PALMER RADIO NAVIGATION SYSTEM FOR DIRIGIBLE CRAFT GROl//VD SPE E' D INVENTOR W//vsmw P/u/WER SERV@ M0701? Filed July 1 6. 1947 0cm/25k BEI. /A/C E D Ml TOR "I Oct. 7, 1952 Patented Oct. 7, `1952 More" Navrcn'rlon si? sriiiviA Foie DIRIGiBLE CRAFT Winslow ltalx'nelt.y West Hempstead1,.N. Y., assigner to' The:` Sperrgncorporation, a; corporation` of Delaware:

invention relates to an'irnprovementin radio navigation-systems for dirigiblecrait. `li/iorc'e particularlyy the: inventionA concerns 'ai system of;

Application July 1o, 194it serialNo.. 761,354. exclame.. (c1. sisi-116i other; nano if; lo. is' zero.. toen miami/df' trie; desired line.

a; `character in. whichithefrateoi turn; of the craftI toward a desired line of. nositionis made proportional to the. sum otthe distance between the craft and, the. desired` line.; of. position. and the rate of change of such distance orfthe velocity of.

the craft relative to` the line or position, .In-ac, cordance with the` invention.,meansy are provided for' producing; a sigiillpnonortional to tlefdiil terence or errorbetween lthe desired radioA line and?Y the craft would" settle on any lineA` `parallel In this. type. of system, if trie craft. is too rar away frotnthe desired. line of position when the controli's turned' on, itwouid not seek the' line.

The velocity oi" tl'ie craft, relative' to the distant of position and the lineyo-i position dened'. by the rad-io `means within the: craft. and; means are provided` for' changing' thedirection. off movement of the. craft.` in accordance with the combined signals of. the signalmeansl and'A the. first deriva.- tive thereofM The system of the, presentinvem tion is particularly adapted. tocontrol ther craft to make aproper approach to a radio denedlne ot position. from ay starting. position and. heading4 V that are entirelvunrelated" to the' line..V

. In such acontrorsystem domweg-padani axis of the craft and the 'linef of" positionyjiL ijs time,l y is the4 perpendicular distance tothe' divs- L line ofl position and kr.. k2 are angle @Tat any instant isproportional. to? tile-"Iierl Iiefof pendicular distance ofthe craft frcmthe position or tireerror in the position of: the plustiie time integraleftheerro-r; .i In. this type offsystem, with the craft distan-t instant, say #102 the` lady/ddl i's- Zro andi the heading of.{tlie craftis `parallel to' the line; As

the` craft starts turningtowa'rd' tneline; doe:- tov the: key signal; aikido/dt signals appears'. or an amplitude depending on the instantaneous angle l where 0 is the angle between` thev fore midi-TaftV o: ll'At; somel course annie` a1: the kay sigrnaluisv equal and` 01olol'isite;r toV tliovlcidgf/dt Signat so` that, dBi/'df is zero'an'df'the turning: of the: craft. stops. It the Rudy/dt signal becomes larger` than the kay signor.. the turning of thecraft isvv reversed and as' av resultof these factors, thecraft approaches the line asymptotically.. 'lE'l'iezf` relative: values of kiffandke are selected so as to cause tiiac'raft seek the` distantiradl'o defined" linein? ai substantially dead-beat man-ner.V i' Ici: is too-small relativeto k2, the crafttendstoy overshoot the line as then --d`0/'clt=koz,ly approxiinately` aiidrsince y does; not change sign until the line of position isfcrossed neither would; dfi/dt'y change". sign to o reverse the craft-fs` direction of" approach. On the liljof. position4 (lill/dt)A is proportional t0.V vthe ground Speed." of the.' craft" and the sine.' of the ansie between the. craft andK the une of position. The. maximum value for 'dg/dtisjwnen the craft is traveling perriendicularly toward the line when If;` thecrait. is so; far ofi the desired line thatthe Rudy/dt signal is negligible compared to the 192g signal. the.l relation -d0/dt=.k2y+k1dy/dt reduces itself. to -d/dkhy'.. that isy a `cons-tant rate 0f turn-is set up and the craft` tunisina. `circle-indenitely.. Y 5 An object of the invention to providea navisationsystem of the. characterdescribedwherein the tendency of., the.. craftrto circle or turn at a constant; rate. When-very distantfrom` the desired lineis corrected. o A-further object; of the;` invention is; to ntilize as. system of` ,the type descriloed.Y that; controls the crafytosovtliat the same approaches thegradiov de ned line of position from a remote point'. toa, predetermined distance from the` lino` at. al Con,- stantangle e'or'vvith a iixed.heading. v

Another object of the present invention isgto provide anew and improved system for. automatically navigating a erafttorapredeierminecicourse.

VAnother object of the present--inventQn is to provide a. new and improved system. and.; specically. a. radioV navigation system for automti.: caller-naviga,tir-n.3:` a craft to'.@..predetermined-posltion., l Another obi-ect of. thepresentinventionisto provide,` new and. improved craft navigating `notons and. also radio-responsive. .craitnavigatms means, comprising means to produce a; sienalipropel? tional to. the displacement of said-craft. from; a.

' predetermined course. .and meansv to'nroducea signal nroportionalto the derivative-ot dief placement. 4 f

Another object of' provide new and improved craft navigating means the: derivative oi said displacement.. andv means .to

limtsaid disrxlacellxentsignal.` l I w Another object oflthepresentinventionfiatoprovide in. a system for navigatinga` dirigible the present inventifinV to l lines of position,

craft, radio means for supplying a signal output corresponding to the geographical position of the craft, settable means for supplying a signal out- 'provide in a system for navigating a dirigibley craft, radio receiver means of the loran type forA `providing an output correspondingV to the presenty line of position of the craft, settable `means-for" jj establishing a reference corresponding to a'seoutput of said receiver and said reference for controlling the heading of the craft. y

Another object of the present invention is'ftoi" provide in a navigation system for dirigible craft,-

radio receiver means, means including manually settable means cooperable with the outputof said radio` means for providing asignal proportional to the distance of the craftr from apredetermined radio defined ground'track, rate measuring means 'for providing fa' signal proportional to' the ratel of approach of said craft to saidgrouv'nd track, means for limiting the 'maximum signal derived from 'said second mentioned. lmeans Ato a value {not in excess vofthe maximum rate of approach signal .derivable from said rate measuring means, :130

craft steering :"means, 'and' means responsive 'tfo the" 'algebraic "sum of said Vsignals formcontrollins ofthe inventionwiu `be apparent from the .i01-

lovvingldescription'lvvhen read in relation tozthe accompanying drawings. wherein L r "'f-Fig.\1-'Ais -agraph employed fnv explai ing "the principles of thepresent-inventior-i.' Fig-#21s ajf'diagrammatic'view 'showing .the course of the' craft betwe'en'two' radi'd-defned =`Fig. 3is a-fschematic view andwiring diagram illustr,ating`the?A components ofa radio navi'gationV systemembodying *theV present inventive eonceptgg.; .K nel.: 1 1 Fig. 4 lis a detail-view and -tviring Adiagram o'f one of the al'armcircui'ts employed in theimi provedsystema'iid* i.

' 5' is 'ai schematic viewfshowing 'as modified form of-theimprovedfsystem. 'I 1 f? L 'KIhe' fradio r portionpf the improved 'systemv may 'beofs the' characterknownv as a loran system suchfas describe'df'i'n Electronics Ama'gazine'of November 194:5 wherein there is provided: means for determining the position of a mobile` craft bylobtaining radio1 signals at the craftfrom a 'plurality or-l chain? of -Iground transmitters and measuring the time differences of .reception .at the craft of theradio signals fromianyf'twostationsf. In the present-showing,` three. ground sta'- tionsf'are. indicatedv in/the dravvingiat- II). The radio" receiver of Isuch asystemfis' designated at II. in Fig. 3. AsA shown. receiver II islanf-auto-f maticaliy'indicatingtype of "loranf receiver h'avling digital counters' or .indicators I2 and I3v that designate/the `present-position of: the'f craft.' The receiver -I I comprises two' units ofthetype-shown -in Fig. 3-"11,. page Bei-10", :section 3,- and 'in-Fig.

A1--Zi3, page 4-34, section 4, of' afpublicationenl:titled -Instruction Book Ifor Loran Receiving Equipment-+Model;1DBE.f approved r.June .27,

4 1945. One type of automatic loran system which may be employed in connection with the embodiment of my invention shown in Fig. 3 is that fully disclosed in U. S. Patent No. 2,472,129, issued to E. C. Streeter, Jr., and assigned to the assignee of the present invention. -jln Egt-f2, this-:position is'shown'at A` atthe inter- 12345- corresponding to the designations of the respective counters I2 and I3. A future or ,target position ,setting may be made by means L fyrna'nually settable digital counters or indica- -tr'l4n .Th h I1 I ht r lected line of future position-.of *ther craft, ,andA o s a d I5 e s ans and s t a tu n means responsive to the difference between the.

. therespectivercounters I2 and I3 are actuated by isili-table phase shifting means (not shown) in receiver I I andthe counters are turned through mapygrevolutionswhen the craft approaches'a line of position that is distant from its present positionlf Position B in IFig. 2 is designated as the target position or desired future position of the craft: :Thislposition .is determined.v by .-the. intersection 'of .\,"lora'n1lines-19237-rand @27643-1 andthe Lcountersin Fig. 3 are 'indicated as mane.

ua-lly :set at: this lselected future. position .off-the craftfrThe'setting:ofcounters lilly and I51ito the position shown isi made Whenthe-craft is at po- `The -previous Isettings 'of the counters 4is hereinshown; shaftl I 8, rotates'a potentiomthreads on the cylinderfis unifornlv throughout as length. A;eonuauqusyvire iswouadirruie v th-reads of the I`cylinder therespective enl'porL hopper brother ebfQd tions of whichare madef 'electrical' conducting Lmaterial j and the central portionV of which is made off. resistive wire,V {I'h'e cylinder of ,l "the 1 potentiometer v. is"V4 constructedlpf I .iesulatsmaterial-- Th- =efita1iesistane.son

ni the dcedimeposma ma@ whe '011.-'` ducting@ sliderY 2| .has equal lengths. of resistance ,aan brule.pQ1;enaornetaf..predicatedl at: 22

wirro .thejright and 1eft Qf.u 1,same. minis arrangement, thev slider of thepotentiomete is illustrated in the centra-l .arm .of anl electrical ,bridge wh0se 011tput. contrels theldrectionff ,operation pf; a -motorY indicatedfat 23. The other armsfpf .bridge includepotentiomete-rs ,24-,and

batteries 25. 'I'he sliding arm of-` each of potenti-5- K Aometers 2,4;isV-adjustedqin accordance. with ground speed off the: craft.; As vhereinsl'iovvn, a manually s'ettableI knob26 isI employed. for this Vpurposes-1.:

w Motor: 23 is adapted to rotatethe rotoror-.the

also, include a vertical reference; in, the forml Yof a directional gyro 3 I` having: ay selsyn pickdgsZ one ofwhoseparts-is xed to the gimbalfrin` v-off .theqreference `The .selsyns 32 andZI are Iintere connectedas Shown and are energized. by a 59eme 0f alternatinasurrent eletrical-ene1tsyliadi .tesi at.; 33... Tn1sfprovidesraself. synch-.remnants ,Y 1.- Amadio navigation systeinfr diigime craft comprising radio means defining a line. of posi'-v tion distantzfrom-the craft, means for providing a first signal in -accordance with substantially the perpendicular `distance of the craft from the line of-'fposition defined bysaidfradio means,..means foriiprovidingia secondsignal in accordance with the rate of change-ofthe perpendicular distance off' thefcraft from the line of position'deii'ned by saidi radio meanarsteering means on 'the craft fordirectingv thenlongitudinal vaxis thereof opera'te'dbyy thecombinedrsignals of said @first and second signal 'meansfv andfmeans A-for limiting' the signal of said firstsignal means'to'anamplitude equal to orlessth'an the -maximumamplitude' of thelsignal derivablefrom "said second signal-providn'gmea'ns u l :f.2."A systemas claimed in claim 21, -in`which saidflimiting means issettableinfaccordance with the speed of the craft relativeto the ground.,`

=3.- i A radiol navigation .system forv dirigible craft comprising rradiofymeans ldefining a -line' lfof' posi# tion distantffrom' the craft, means forl'providing aii'rst signal 1inv accordance with the'-perpendicu-v lai-:horizontal distanceiof---the craft fromthe radio defined'line'of'fp'ositiomV means for! providing a second'fsignal in accordance Withthe ratefof change of `the" horizontal :distance of the craft-'from the radio' "defined line of position,

ment ,oft the craft' in accordance with saidrsignal and the first derivative thereonv t e E -1 7. In a'hyperbolic radio navigation systemtfor dirlgible, craft, the combination of. radio means definingaiine of position,- settable means fordertermininga reference line Vof position, means for producing `aggsignal `in accordance with the'time difference between theset reference lineoposi-v tion and theactualv'line of position ofthe craft definedfbyusaid radio means,and means for controlling: the, heading of the craftl in accordance with saidsignal, Y

`-8. I n` navigation system Vfor dirigible,craft',4

radio receiver means, means includingmanually settable means cooperable with the output of said radio means for'providing a signal proportional vtothe distanc'eQofthecraft from afp'reg determinedradio Vdefined ground track.' Yrate measuring' means, fon'pro'viding a signal proporftional toy therate of Yapproach of said craft to said 'ground'ta'ckl, means for` limiting the maidr'nur'n 'signal derived'from said second mentioned` meanslto a value notgin excess of the, maximum r'ate ofja'pproach signal vderivable from said rate measuringfmean's, craft.l steering means." and means', responsive to the lalgebraic sum ofsaid' signalsjifor ,controlling thecraft steering means;

means" for turning the craftin azimuth operated byth'e'combined signals of said first and second signal means, andl'means for limiting;l the signal ofi-said first vsignal vmeans to fanl amplitude not greater# than. the maximum amplitude of "the signal derivablef'from said second vsignal-providingm'ean-s. i

7:4.; Apparatus r as claimedVV in claim 3, -in which the ground speed of the craft. l

In a systemf'for'navigating a craft toward'a sai'd'limiting means issettable in accordance with distant radio .deflnedline of position,` means Ifor of position, second means vforope'rating saidvary'- ingmieans providing a signal-"proportional to the `distance from said-craft tothe-radio v'defined line andf in opposition to the signal vof said first -signal meansand means for limiting thegmax-imum value-of .the'signal of said second signal means toy an amplitude equal to or! les's `than the maximum amplitude `of the'signaltderiv'able from said iirst signalmeans. i' L l 6. In a radio navigation "systemfi for dirigible craft, thevcombination of,1radio means 4defining al line of position, settable means fordetermining a reference line ofposition, means-for producing a'signal in accordance with theerror between the set lineof position and the?actual` line of'position '1 of Y the' craft v defined by sai'dl vradio' 'a means,

`and-means for 'controlling thetdirec'tlon of move`I vT9'. aA navigation. system for` ydirigible craft, means including radio receiver means forpro-ff vidinga fs'ignal output proportional to.'I the distance cifsaidv craft from a., predetermined radio` defined ground traok,rate measuring means for proviciin'gjr a "signal 'propo'rtionalto the ratel of approach rof said craft'toward said ground track.

rneanswfor, limitingthe maximum signal lderived y fromsaid' firstmentioned means to a value 'not in excess oflthemaximum rate of approach signal derivableirom Said rate measuring means, craftupsteering means, and means responsive` to' the l'gebraic` sun ofjrsaid 'signals forgcontr'olling thefcijaftsteering'ineans;A 5 ,j 10.In a navigation system for dirig'ible craft; means including radiojreceiver meansfgfor prof vdinlg ,ai signal Output' proportional toA the. diS- tancerof'sfaid craftjfrom a predeterminedradio defined'.ground",track, means for iimiting'the m'aximum'signaloutput from said first men'- iienedpfmeens to 'a `riiejdet.germijned 'valuey l 'craft steering meanai'means for controlling saidv craft steeringfmeans in accordance with the value of s'afifd; signal, "andl means for ysupplyingajsignal lie vh'eadingmof said craft to# ,h d trackinfopposing relation vto the/ars mentioned Signat f ,'Inaf'(ystemfornavigating a dirigible craft, means-including radio receiver means for'pro- 'viding a 'signal'outputI proportional tothe distance fof 'said craft .fromn a predetermined radio ground track, craft steering means, means', for controlling saidl craftsteering means Ain accord;- ancewithisaicisignalfoutput, and means for limitinl the, maximum lvalue' rof the signal output of 'said receiver means'ltd' someV vpredetermined value t thereby prevent the vcraftsteeringmeans from causingthefcraft 'to tu'rrilto such an extent that' it's'heading-fwill pass through a headingvnormal to thefra'di' dfinedgroindjtrack A l12;.;Ir1 aijflsystemf for 5- navigating -a dirigible `craft, radiore'eiver lmeans for supplying a signal output' corresponding Y tothe geographical posi" .tion 'ofthevjcraftgthesignal being .of the same ,valueA fortall .points along a known ground track,k rneansffon vbtaining a-signal corresponding to that-fobtained from ,said radio receiver Vmeans Whenat aj selected lground track towardv whichl *19 the craft .is to .benavigated means .responsive to both of said means for producing a control signal value for all points along a known ground track, means for obtaining a signal corresponding to y that obtained from said radio receiver means when at a selected ground track toward which the craft is to be navigated, means responsive to both of said means for producing a control signal proportional to the geographical distance between said ground tracks, means for obtaining a second control signal proportional to the rate of approach of the craft toward the selected ground track, and means for controlling the heading of said craft in accordance with the difference between said two control signals.

14. In a system for navigating a dirigible craft, radio receiver means for supplying a signal output corresponding to the geographical position of the craft, the signal being of the same value for all points along a known ground track, means for obtaining a signal corresponding to that obtained from said radio receiver means when at a selected ground track toward which the craft is to be navigated, means responsive to both of said means for producing a control signal proportional to the geographical distance between said ground tracks, means for obtaining a second. control signal proportional to the rate of approach of the craft toward the selected ground track, means for limiting the rst control signal to a maximum value not in excess of the maximum derivable rate of approach signal, and means for controlling the heading of the craft in accordance with the difference between said two control signals.

15. In a navigation system for dirigible craft, radio receiver means for supplying a signal output corresponding to the geographical position of the craft, the signal being of the same value for all points along a known ground track, means for obtaining a signal corresponding to that obtained from said radio receiver means when at a selected ground track toward which the craft is to be navigated, means for combining said signals to provide a control signal proportional to the difference between said two signals, means for limiting the maximum value of the signal z derived from said second mentioned means, craft steering means, and means for controlling the craft steering means to change the heading of said craft through an angle proportional to said control signal.

16. In a navigation system for dirigible craft, radio receiver means for supplying a signal output corresponding to the geographical position of the craft, the signal being of the same value for all points along a known ground track, means `for obtaining a signal corresponding to that obi tained from said radio receiver means when at aselected ground track toward which the craft is to be navigated, means for rotating a rst member at a rate proportional to said second outut :of said signal .generator"forfsteering said crau.J i l 17.:In ,afnavigation system for .dirigible' craft,

`aflrst vmeans `including afradio 'receiver for prol viding an output varying withzchanges-in position of-thecraft relatveto a radio1 transmitting station, afsecond means comprising :saidradio 1receiver and a settable means for; providing an output proportional to the distance of the craft from a selected radio-defined ground track, a

differential, 'means connectingl the outputs of said rst. and second `means ,as inputs to `said diierential, craft steering matins,-` .and means responsive `to the output of said differential for controlling said craft steering means.

18. In a navigation system for dirigible craft,

radio receiver means for supplying a signal output corresponding to the geographical position of the craft,.` the signal being of the same value for all points along a, known ground track, means for producing a signal in accordance with the error between the line of actual position of the craft as defined by said radio means and some selected line of future position, means for obf taining a signal proportional to the rateof ap-` proach of the craft toward the selected line of position, and means for controlling the heading of said craft in accordance with both signals.

19. In a navigation system for dirigible craft, radio receiver means for supplying a signal outputcorresponding to the geographical position of the craft, the signal being of the same value for all points along a known ground track, means for producing a signal in accordance with they error between the line of actual position of the y craft as definedl by said radiomeans and some selected line of future position, means for limiting the maximum value of the errorv` signal, means for obtaining a signal proportionalto the rate of approach ofthe craft toward the selected l, line of position,` and means for controlling the heading of said craft in accordance with both i signals.

20. In a system for navigating a dirigible craft,

radio means for supplying a signal output cor` responding to the geographical position of the craft, settable means for supplying a signal `output corresponding to a selected future position of the craft, and means for controlling the heading of the craft in accordance with said signals.

2l. In a system for navigating a dirigible craft,

` radio receiver means of the loran type for providing an` output corresponding to the present line of positionof the craft, settable means for establishing a reference corresponding to a selected line of future position of the craft, and

means responsive to the difference between the output of said receiver and said reference for controlling. the heading of the craft.

22. Ina system for navigating a dirigible craft, radio receiver means of the loran type for pro-r viding an output corresponding to the present line'of position of the craft, settable means for establishing a reference corresponding to a selected line of future position of ythe craft, and

means responsive to the difference between. the` g output of said receiver and said reference for mentioned signal, a second member rotated by f controlling the heading of the craft, means for K supplying a signal proportional to the difference between 4the output of said receiver and saidV reference, and means responsive to both of said signalsfor controlling the heading of said craft. 23. In a navigating system for dirigible-craft,

radio means for providing a signal proportionah` both of tothe displacement om craft-'from @"radiqL-deyfined path, a. directional reference device anda .signal-generating; pick-offssociated "therewith, i

' -saidzradiof receiver' .for vmodifying thei ysignal l def Naz-ne'l Dte 1- I.

Hooven v v Sept. 26, 193,9

rWittkuhns.; Mar. V27,- 1945 

